Implementations of FroboMind using the Robot Operating System framework

Several different architectures has been suggested for agricultural robotic vehicles like Agriture, The Hortibot and AgroBot linux shared memory based architecture, or the FroboMind.This work present the implementation of the latter conceptual architecture FroboMind utilising the open-source cross language robotic framework ROS.Secondly a rugged hardware platform FroboBox is presented

Long-Term Occupancy Analysis using Graph-Based Optimisation in Thermal Imagery

This paper presents a robust occupancy analysis system for thermal imaging. Reliable detection of people is very hard in crowded scenes, due to occlusions and segmentation problems. We therefore propose a framework that optimises the occupancy analysis over long periods by including in-formation on the transition in occupancy, when people enter or leave the monitored area. In stable periods, with no ac-tivity close to the borders, people are detected and counted which contributes to a weighted histogram. When activity close to the border is detected, local tracking is applied in order to identify a crossing. After a full sequence, the num-ber of people during all periods are estimated using a prob-abilistic graph search optimisation. The system is tested on a total of 51,000 frames, captured in sports arenas. The mean error for a 30-minute period containing 3-13 people is 4.44 %, which is a half of the error percentage optained by detection only, and better than the results of comparable work. The framework is also tested on a public available dataset from an outdoor scene, which proves the generality of the method. 1

Luminal concentrations of L- and D-lactate in the rectum may relate to severity of disease and outcome in septic patients

INTRODUCTION: Little is known about the condition of the large bowel in patients with sepsis. We have previously demonstrated increased concentrations of L-lactate in the rectal lumen in patients with abdominal septic shock. The present study was undertaken to assess the concentrations of L- and D-lactate in rectal lumen and plasma in septic patients including the possible relation to site of infection, severity of disease, and outcome. METHODS: An intensive care unit observational study was conducted at two university hospitals, and 23 septic patients and 11 healthy subjects were enrolled. Participants were subjected to rectal equilibrium dialysis, and concentrations of L- and D-lactate in dialysates and plasma were analysed by spectrophotometry. RESULTS: Luminal concentrations of L-lactate in rectum were related to the sequential organ failure assessment scores (R(2 )= 0.27, P = 0.01) and were higher in non-survivors compared to survivors and healthy subjects (mean [range] 5.0 [0.9 to 11.8] versus 2.2 [0.4 to 4.9] and 0.5 [0 to 1.6] mmol/l, respectively, P < 0.0001), with a positive linear trend (R(2 )= 0.53, P < 0.0001). Also, luminal concentrations of D-lactate were increased in non-survivors compared to survivors and healthy subjects (1.1 [0.3 to 2.5] versus 0.3 [0 to 1.2] and 0.1 [0 to 0.8] mmol/l, respectively, P = 0.01), with a positive linear trend (R(2 )= 0.14, P = 0.04). Luminal concentrations of L- and D-lactate were unaffected by the site of infection. Plasma concentrations of L-lactate were also increased in non-survivors compared to survivors (3.8 [1.7 to 7.0] versus 1.5 [0 to 3.6] mmol/l, P < 0.01). In contrast, plasma concentrations of D-lactate were equally raised in non-survivors (0.4 [0.1 to 0.7] mmol/l) and survivors (0.3 [0.1 to 0.6] mmol/l) compared with healthy subjects (0.03 [0 to 0.13] mmol/l). CONCLUSION: In patients with severe sepsis and septic shock, luminal concentrations of L- and D-lactate in the rectum were related to severity of disease and outcome

Gas phase mean opacities for varying [M/H], N/O, and C/O

We present a set of gas-phase Planck mean and Rosseland mean opacity tables applicable for simulations of star and planet formation, stellar evolution, disk modelling at various metallicities in hydrogen-rich environments. The tables are calculated for gas temperatures between 1000K and 10000K and total hydrogen number densities between 10^2 cm^-3 and 10^17 cm^-3. The carbon-to-oxygen ratio is varied from 0.43 to well above 2.0, the nitrogen-to-oxygen ration between 0.14 and 100.0. The tables are calculated for a range of metallicities down to [M/H]'= log N_M/N_H=-7.0. We demonstrate how the mean opacities and the abundances of the opacity species vary with C/O, N/O, and [M/H]'. We use the element abundances from Grevesse, Asplund & Sauval (2007), and we provide additional tables for the oxygen-abundance value from Caffau et al.(2008). All tables will be available online under http://star-www.st-and.ac.uk/$\sim$ch80/datasources.htmlComment: 10 pages, accepted for publication in MNRA